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Monash-Connected-Autonomous-Vehicle / autoware

Autoware - the world's leading open-source software project for autonomous driving
https://www.autoware.org/
Apache License 2.0
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CARLA x Autoware test on Twizy #32

Closed dylan-gonzalez closed 10 months ago

dtonda8 commented 10 months ago

This resolved issue is pretty much a tutorial for setting up Carla x Autoware (i.e. set a path in Rviz then the bridge publishes Autoware Ackermann Control Messages in ROS, and thus, can control the Twizy).

If you want to run the Carla x Autoware in one machine, and SD-VehicleInterface in another, you'll need to run the following commands on both machines' terminals:

export ROS_LOCALHOST_ONLY=2 
export ROS_DOMAIN_ID=2      # This can be any number, but must be the same for all machines of interest
dylan-gonzalez commented 10 months ago

is there a repo for this?

dtonda8 commented 10 months ago

You'll need 3 repos by hatem-darweesh. I managed to get it working on the Beast.

dylan-gonzalez commented 10 months ago

It would be good if this could all be packaged in some way into one repository so that it's reproducible. I've just made a new repo for running HIL demos with the Streetdrone vehicles as I need to set up a CARLA HIL demo for a unit.

Would be neat if (when you get time) make a branch for carla-autoware-zenoh bridge HIL demo and could probably add those 3 repos ^ as submodules?

dylan-gonzalez commented 10 months ago

Also great work!!

dtonda8 commented 10 months ago

Would be neat if (when you get time) make a branch for carla-autoware-zenoh bridge HIL demo and could probably add those 3 repos ^ as submodules?

I was actually just using the 3 repos by Hatem, without the autoware_carla_launch (which uses zenoh). If you want to control multiple vehicles using a single Carla simulator, we'll need to use that. There is a way to for zenoh to publish to ros2 topics apparently, refer to this resolved issue

dtonda8 commented 10 months ago

Also Rviz + Carla should be done on a machine with at least 32 gb ram (i.e. not the SD Alienware Laptop). Maybe we could use one of the hives or something. Then we could publish to ROS topics via LAN.

dylan-gonzalez commented 10 months ago

Yeah no stress whatever works

dtonda8 commented 9 months ago

Rviz (on ~8 fps) + Carla running on the SD Alienware: https://drive.google.com/file/d/1ywcLC-7fMzx-sukkRjqpWB_ePQO9rQ5b/view?usp=share_link